"Andrew is a true and real gentleman and is stoically steadfast to not only his duty but also his kindness and goodness of always seeing the best in people.

"I am deeply supportive and proud of this giant of a principled man, that dares to put his shoulder to the wind and stands firm with his sense of honour and truth. For so many years he has gone about his duties for Great Britain and The Monarch. It is time for Andrew to stand firm now, and that he has, and I am with him every step of the way and that is my honour. We have always walked tall and strong, he for me and me for him."

Ferguson went on to add that "we are the best examples of joint parenting," in reference to their two daughters, Princesses Beatrice and Eugenie.

Sarah Ferguson and Prince Andrew on their wedding day in 1986.
AP

Although Andrew and Ferguson divorced in 1996, the couple have remained close. The duchess has been invited to many royal events over the years, including the wedding of Prince Harry and Meghan Markle.

The interview was heavily criticized by royal experts, with royal commentator Richard Fitzwilliams telling Insider that the interview was "so damaging to the monarchy."

"He [Prince Andrew] has defended that grotesque interview, something he should not have been allowed to do," said Fitzwilliams, former editor of "The International Who's Who."

"He clearly has totally failed to understand what went so horribly wrong and reportedly actually thinks it went well," he went on. "So he is in denial. There is obviously a dreadful breakdown in communications at Buckingham Palace which needs urgently to be rectified as it is so damaging to the monarchy."